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Noor Ayuni Che Zakaria,Takashi Komeda,Cheng Yee Low,Fazah Akhtar Hanapiah,Kaoru Inoue 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
The aim of this work is to formulate a spasticity symptoms-oriented model, in terms of its capability to consistently emulate unidirectional and velocity-dependent spasticity symptoms, based on a Modified Tardieu Scale (MTS). Spasticity stiffness can be simulated using two dynamic equations expressing 1) muscle tone catch during passive stretching at different velocities and 2) resistance through Range Of Motion (ROM). Muscle tone is proportionate to velocity; where muscle resistance is constant until reaching a certain angular velocity. Following different Modified Ashworth Scale (MAS) levels, muscle resistance can occur at varying degrees through the ROM. The simulated spasticity of MAS 1+, based on the developed model, shows a strong positive linear correlation coefficient with average r = 0.7414 for fast forearm extension. The derived model will be used to develop new principles of variable stiffness actuation in an upper limb part-task trainer that is able to emulate upper limb spasticity symptoms.
Ahmad Dzuharuddin Othman,Noor Ayuni Che Zakaria,Natiara Mohamad Hashim,Shahrol Mohamaddan 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
Mirror therapy is a visual feedback therapy used in stroke rehabilitation with unilateral upper limb weakness that tricks the brain into thinking their affected weak upper limb can move through a mirror reflection. Malaysia Exoskeletal Robot Assisted Therapy (MyERAT) underpins the concept of mirror therapy, a system integration between a sensor glove and an exoskeleton glove worn onto the patient’s affected arm to improve movement through visual feedback from a mirror reflection of a foldable mirror box. An exoskeleton is a wearable external device used to assist an injured limb in motion during the rehabilitation process. A potentiometer is a sensor utilized to measure resistance produced through sliding contact. In the system, unaffected upper limb movement manages the sensors that provide ADC reading values to control the exoskeleton movement. The movements are video recorded and uploaded into Kinovea software to obtain delay time. Upon initial test run, the system is accepted as a robotic hand with a delay time locate below 300 to 400 ms. Robotic exoskeleton might adjunct the conventional method of mirror therapy by providing two-way feedback between the brain and affected hand that enhances the neuroplasticity process, hasten the neuro recovery in post-stroke survivors.